引用本文:包涛,陈卓,周则兴,郭煜,何芸倩.基于改进无模型自适应控制算法的无人艇路径跟随控制[J].控制理论与应用,2025,42(9):1849~1857.[点击复制]
BAO Tao,CHEN Zhuo,ZHOU Ze-xin,GUO Yu,HE Yun-qian.Path following control of unmanned surface vessel based on improved model-free adaptive controller[J].Control Theory & Applications,2025,42(9):1849~1857.[点击复制]
基于改进无模型自适应控制算法的无人艇路径跟随控制
Path following control of unmanned surface vessel based on improved model-free adaptive controller
摘要点击 3615  全文点击 181  投稿时间：2023-08-25  修订日期：2024-12-17
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DOI编号  10.7641/CTA.2024.30577
  2025,42(9):1849-1857
中文关键词  无人艇  无模型自适应控制  细菌觅食算法  路径跟随
英文关键词  unmanned surface vessel  model-free adaptive control  bacterial foraging algorithm  path following
基金项目  中国船舶科学研究中心稳定支持项目(K3886)资助.
作者单位E-mail
包涛* 中国船舶科学研究中心 baotaofy@163.com 
陈卓 中国船舶科学研究中心  
周则兴 中国船舶科学研究中心  
郭煜 中国船舶科学研究中心  
何芸倩 中国船舶科学研究中心  
中文摘要
      针对无人艇在路径跟随控制中由于风浪流等环境干扰或自身状态改变,导致路径跟随控制效果下降的问 题, 提出一种基于改进无模型自适应控制(IMFAC)算法的改进视线法路径跟随控制器.文章首先针对传统视线法设 计了自适应前视圆以减小无人艇转向误差;针对无模型自适应控制算法设计了虚拟输出项以满足算法运行条件, 同时利用添加的微分项实现了算法后期的快速收敛;针对无模型自适应算法较多的初始参数利用细菌觅食算法进 行了预寻优,进一步保证了控制器的快速性;最后,通过半物理仿真试验以及实际水域实艇试验验证了所涉及算法 的抗干扰性和有效性.
英文摘要
      An improved path following controller of unmanned surface vessel (USV) based on improved model-free adaptive control (IMFAC) algorithm is proposed to solve the control problem which is degraded by wind, wave and other environmental disturbances and changes of USV’s states. Firstly, an adaptive forward-looking circle is integrated to min imize steering errors in traditional line-of-sight methods. A virtual output term is designed for the model-free adaptive control algorithm to satisfy the operating conditions of the algorithm, and the fast convergence of the algorithm is achieved at the later stage by using the added differential term. To optimize the numerous initial parameters in the model-free adaptive control algorithm, the bacterial foraging optimization algorithm is employed, ensuring swift controller response. Finally, the anti-interference and effectiveness of the proposed algorithm are verified by semi-physical simulation experiments and real boat testing in actual water areas.